How to find inverse kinematics given D-H parameters?

Hello world!

I have these D-H parameters and I want to find the inverse kinematics.

I have found the final pose of end-effector by hand through homogeneous transformations.

How can I do that?

Thanks in advance!

Answer 1

[Ameer Hamza]

First create a rigidBodyTree from dh parameters: https://www.mathworks.com/help/robotics/ref/rigidbodyjoint.setfixedtransform.html and then use inverseKinematics(): https://www.mathworks.com/help/robotics/ref/inversekinematics-system-object.html function.

[RoBoTBoY]

Hello and happy new year!

I run the code from the first link with my own dh parameters but it appears error.

[RoBoTBoY]

dhparams = [l1     -pi/2	l0   	0;
            l2	   0       l3      -pi/2;
            l4	   -pi/2	0    	0;
            0   	pi/2	l5  	0;
            0      -pi/2	l6  	0;
            0      0       l7      0];

I put them this way.

[Ameer Hamza]

You need to put constant values for l1, l2, ..., l7. Symbolic variables will not work here.